JP2008207943A - Elevator speed monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an elevator control device capable of producing a proper variable speed monitoring pattern by preventing deviation of a car position even in repetition of traveling not passing through a position sensor and capable of quickly reducing speed of the car during traveling by quickly detecting failure of a position sensor. <P>SOLUTION: The elevator speed monitoring device is provided with the position sensor 12 for detecting an absolute position installed in an elevator shaft; an encoder 9 for outputting a signal according to movement of the car 2; a car position calculation means for calculating the car position by the position sensor and the encoder; a car position storage means for storing the car position when the car is stopped as a correction car position; a failure detection means for detecting failure of the position sensor; and a means for calculating the variable speed monitoring pattern using the correction car position stored in the car position storage means when the failure detection means detects failure of the position sensor. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an elevator speed monitoring apparatus.

  As a conventional elevator speed monitoring device, when the car approaches the end of the hoistway, the car is forced when the traveling speed of the car exceeds a predetermined overspeed level corresponding to the distance from the end. When the overspeed detection device that detects overspeed is normal, the start of the car after forced deceleration stop is prevented, and when the overspeed detection device becomes abnormal, the car after forced deceleration stop It is possible to start the car after forced deceleration stop when the overspeed detection device becomes abnormal, and the terminal floor forced deceleration function malfunctions due to an abnormality in the overspeed detection device. Even so, there is one that prevents the car from becoming inoperable (see, for example, Patent Document 1).

JP-A-11-246141 (second page, FIG. 1)

  In the prior art as described above, the car position shifts when repeated traveling that does not pass through the position sensor provided near the terminal floor, and the variable speed monitoring pattern is calculated with the car position shifted. There is a problem that there is a risk that an abnormality in the car speed is erroneously detected (the variable speed monitoring pattern is in front) or the abnormality detection is delayed (the variable speed monitoring pattern is beyond). This is because there is no problem because the car position is reset by detecting the position sensor when the position sensor is normal, but it is not reset if the position sensor is faulty. is there.

  The present invention has been made to solve the above-described problems of the prior art, and can obtain an appropriate variable speed monitoring pattern even when the position sensor fails when traveling without passing through the position sensor is repeated. Therefore, an object of the present invention is to provide an elevator speed monitoring device with improved safety that can quickly decelerate a traveling car.

  An elevator speed monitoring device according to the present invention includes first and second position sensors for detecting an absolute position installed in the vicinity of a terminal floor of a hoistway, an encoder that outputs a signal according to the movement of a car, In the elevator speed monitoring apparatus comprising a car position calculating means for calculating a car position by the first and second position sensors and the encoder, and a car speed calculating means for calculating a car speed by the encoder, the car is stopped. Correction car position storage means for storing the car position as a correction car position, failure detection means for detecting a failure of the position sensor, and the failure detection means detected a failure of the first or second position sensor And a means for outputting a variable speed monitoring pattern using the corrected car position stored in the corrected car position storing means.

  According to the present invention, when the failure detection means detects a failure of the first or second position sensor, the variable speed is obtained using the correction car position which is the normal car position stored in the correction car position storage means. By outputting the monitoring pattern, it is possible to obtain an appropriate variable speed monitoring pattern even when there is a failure of the position sensor when traveling without passing through the position sensor. The vehicle can be decelerated and safety can be improved.

Embodiment 1 FIG.
1 to 8 illustrate an elevator speed monitoring apparatus (hereinafter simply referred to as a speed monitoring apparatus) according to Embodiment 1 of the present invention, and FIG. 1 is an overall view showing a main part of the elevator apparatus including the speed monitoring apparatus. FIG. 2 is a block diagram showing the configuration of the speed monitoring apparatus of FIG. 1, FIG. 3 is a flowchart of car position calculation in the operation of the speed monitoring apparatus shown in FIG. 1, and FIG. 4 is a basic diagram of the speed monitoring apparatus shown in FIG. FIG. 5 is a flowchart for calculating a corrected car position in the operation of the speed monitoring device shown in FIG. 1, FIG. 6 is a diagram for explaining the configuration of the array data shown in FIG. 5, and FIG. 7 is shown in FIG. FIG. 8 is a flowchart for explaining the relationship between the reference position shown in FIG. 7 and a predetermined value.

  In FIG. 1, an elevator apparatus includes a hoistway 1, a car 2 provided so as to be movable up and down in the hoistway 1, a main rope 4 having one end fixed to the car 2 and the other end fixed to a weight 3, A hoisting machine 5 on which the cable 4 is wound up and down the car 2, a motor 6 with a brake for driving the hoisting machine 5, a control panel 7 for controlling an elevator including the motor 6, and a rope 8 on the car 2 And a governor 10 having an encoder 9 that rotates according to the raising and lowering of the car 2, and a speed monitoring device 11 that monitors the speed of the car 2. The encoder 9 operates in accordance with the movement of the car 2 and performs car speed detection, car movement amount detection, and the like. A typical example is a rotary encoder.

  The speed monitoring device 11 monitors the car speed in order to avoid the car 2 traveling at an excessive speed due to an abnormality in the control panel 7 and buffer collision with a shock absorber (not shown) provided in the pit of the hoistway 1. Then, whether or not the variable speed monitoring pattern that can be safely stopped by a sudden stop is monitored is exceeded, and if it is exceeded, the car 2 is stopped suddenly and includes the same function as that of the terminal floor forced deceleration device. As shown in the block diagram of FIG. 2, the speed monitoring device 11 is configured as a microcomputer system having a speed control calculation unit 111, a safety circuit unit 112, a CPU 113, an I / O 114, a flash ROM 115, a ROM 116, a RAM 117, and the like. A first and second position sensor 12 (hereinafter simply referred to as a position sensor) for detecting the absolute position of the car 2 provided at a predetermined position near the upper and lower terminal floors of the hoistway 1 is a car 2. A signal output when operated by the cam 13 provided on the side of the motor, a pulse signal output from the encoder 9, a signal of the control panel 7, etc. are input, and the car position calculation 111a is performed by the speed control calculation unit 111. Processing such as speed pattern calculation 111b and car speed calculation 111c is performed (details will be described later).

The following signals are exchanged between the speed monitoring device 11 and the control panel 7.
1) Control panel 7 → speed monitoring device 11: Learning start / end command.
2) Speed monitoring device 11 → control panel 7: monitoring speed information, learning request, nearest floor stop request, status signal.
Note that the speed monitoring device 11 is a safety circuit independent of the control panel 7 and therefore does not send or receive a signal that changes the function of the speed monitoring device 11.
Next, the operation of the first embodiment configured as described above will be described with reference to the flowcharts of FIGS.

  First, the basic operation of the elevator will be described. The elevator controls the motor (with brake) 6 by the control panel 7 and drives the hoist 5 to raise and lower the car 2 and the weight 3 hung on the main rope 4. At this time, another rope 8 attached to the car 2 rotates the encoder 9 directly connected to the sheave shaft of the governor 10 that rotates in accordance with the raising and lowering of the car 2, and a pulse (cage movement amount) emitted from the encoder 9 is generated. Input to the elevator speed monitoring device 11. A signal (for example, ON or OFF) is generated when the cam 13 installed in the car 2 and the position sensor 12 installed in the hoistway 1 are engaged by raising / lowering the car 2, and the signal is input to the speed monitoring device 11. The position sensor 12 is installed in an arbitrary number of points (for example, two points for each one point, four points for each two points in this example, two points each in this example) in the vicinity of the upper and lower terminal floors of the hoistway 1. Is done.

  Next, the car position calculation 111a as the car position calculation means of the speed monitoring device 11 will be described. The speed monitoring device 11 recognizes the absolute position of the car 1 and the current car position according to the car position calculation flow shown in FIG. That is, in FIG. 3, it is determined whether or not the car position is determined in step S1, and if the car position is not determined (N), the traveling direction is viewed in step S3. When the vehicle is traveling in the UP direction, the entry of the upper position sensor is observed in step S4. If the entry of the upper position sensor is detected (Y), the reference position of the corresponding position sensor is set as the car position in step S5. To do. When the vehicle is running DOWN in step S3, the entry of the lower position sensor is detected in step S6. If the entry of the lower position sensor is detected (Y), the reference position of the corresponding position sensor is determined in step S5. Set as position. If no position sensor entry is detected in step S4 or S6 (N), the calculation cycle ends. On the other hand, if the car position is fixed in step S1 (Y), the car movement amount for each calculation cycle is added to the car position (a positive value during UP travel and a negative value during DOWN travel) in step S2. Then update the car position.

  Specifically, the speed control calculation unit 111 of the speed monitoring device 11 outputs a learning request to the control panel 7 when the flash ROM 115 does not have a reference position or when the value is incorrect, such as when the power is turned on. To do. The control panel 7 moves the car 2 to the lowest floor, for example, when there is no call, outputs a learning start command, runs the car 2 from the lowest floor to the highest floor, and then learns at the end. Output an end command. In response to this, the speed monitoring device 11 sets the car position to a predetermined value on the lowest floor, and thereafter adds the amount of car movement to the car position. As the car 2 travels, it enters the upper position sensor 12 during UP travel. The car position at the time and the car position when entering the lower position sensor 12 during DOWN traveling are learned as reference positions, and other position sensors are also learned and stored in the flash ROM 115 in the same manner. During the elevator traveling, the value of the reference position is set as the car position every time the position sensor 12 is detected. This is to correct the deviation of the car position caused by the sheave of the governor 10 and the slip of the rope 8 when traveling is repeated without the car position being reset.

  In the pattern calculation 111b (means for outputting a variable speed monitoring pattern) of the speed monitoring device 11, the speed data of the position function calculated in advance is stored in the ROM 116, and the terminal floor is calculated from the difference between the car position and the terminal floor position. Is calculated, and a variable speed monitoring pattern is calculated and output from the remaining distance. The flash ROM 115 or ROM 116 of the speed monitoring device 11 stores three types of monitoring speeds, a preset variable speed monitoring pattern, a maximum speed pattern, and a low speed pattern, and a buffer when the car position is indefinite. Use a low-speed pattern that is less than the allowable collision speed. After the car position is determined, the highest speed pattern is set near the intermediate floor and the variable speed monitoring pattern is set near the terminal floor. Since the allowable speed of the buffer collision is lower than the rated speed, a variable speed monitoring pattern in which the monitoring speed is gradually reduced depending on the position in the vicinity of the terminal floor.

  Further, in the car speed calculation 111c (car speed calculation means) of the speed monitoring device 11, the car speed is calculated from the amount of car movement during a predetermined period by the timer control, as in the example generally performed in the case of microcomputer control. Is calculated. For example, in the case where the calculation cycle is 50 msec and the travel distance per pulse of the encoder 9 is 0.1 mm, if there is a change amount of 100 pulses per calculation cycle, the speed is 0.1 mm × 100 pulses / 50 msec = 12 m / min. The car speed calculated in this way is compared with the pattern (variable speed monitoring pattern, maximum speed pattern, low speed pattern) output in the pattern calculation 111b. If the pattern <car speed, it is determined that the speed is abnormal. The elevator is suddenly stopped by operating a brake (not shown) of the motor 6 (or the hoist 5).

  Hereinafter, the basic operation of the speed monitoring apparatus 11 having the above functions will be described with reference to FIG. In step S11, it is checked whether the car position is fixed. If the car position is not fixed (N), low speed monitoring is transmitted to the control panel 7 as monitoring speed information in step S17, and monitoring is performed in step S18. Indicate a slow pattern as the speed. If the car position is determined in step S11 (Y), the monitoring speed information transmitted to the control panel 7 in step S12 is the highest speed monitoring (= variable speed monitoring), and the traveling direction is checked in step S13. In the case of UP traveling, the remaining distance to the terminal floor is calculated by (TOP floor position−car position) in step S14. In the case of DOWN traveling, the remaining distance to the terminal floor is calculated in step S16 ( Car position-BOT floor position). Next, a variable speed monitoring pattern (PAT) is extracted from the position function speed data (TABLE [remaining distance]) stored in the ROM 116 calculated in advance in step S15. In step S19, the car speed is calculated from the car movement amount by the car speed calculation 111c. In step S20, the car speed is compared with the variable speed monitoring pattern (PAT). If the car speed is larger, step S21 is executed. It is determined that the speed is abnormal at, and the elevator is suddenly stopped.

Next, the calculation of the corrected car position, which is the first characteristic part of the present invention, will be described with reference to FIGS. Note that the car position when the elevator stops is TABLE [N] (N is the number of TABLE data as shown in FIG. 6 as array data corresponding to the floor. For example, if the number of stopped floors is 10, N = 9) is stored in the flash ROM 115. Also, the sign “++” shown in the flowchart of FIG. 5 indicates that the value of the variable shown to the left of the sign is incremented, and the sign “-” decrements the value of the variable shown to the left of the sign. (For example, for the variable A, A ++ means A = A + 1, and A-- means A = A-1.) Further, each of the four portions I to IV in the flowchart of FIG. 5 performs the following processing.
I. If the table value is within a predetermined value range, the table value is updated to the current car position.
II. When new data is added to the current table, the data is added while rearranging in ascending order.
III. Newly added to the end of the TABLE value.
IV. The car position is compared with the TABLE value, and the corresponding TABLE value is extracted.

In step S31 of FIG. 5, the stop of the elevator is determined, and if it is stopped (Y), the number of running times RUN_CNT after the position sensor detection is incremented in step S32, and whether or not RUN_CNT is less than the predetermined number of times RUN_MAX in step S33. When the value is less than RUN_MAX (Y), the car position at the time of stop and the array data are compared as follows in steps S34 to S38, and if it is within a predetermined range, the floor data of the corresponding array data is updated.
That is, after setting the variable I = 0 in step S34, for the array data TABLE [N], in step S35, if the determination of I ≧ N is (N), first, the value of TABLE [0] and the car position Are compared in step S36. That is,
(TABLE [0] −predetermined value) <car position, and
Car position <(TABLE [0] + predetermined value),
If (Y), in step S37, the car position at that time is updated with respect to TABLE [I] (TABLE [0] ← car position), and in step S38, the car position is updated as the corrected car position. finish. The flash ROM 115 or RAM 117, which is the data storage destination at this time, constitutes a correction car position storage means.

If the car position does not correspond to TABLE [0] in step S36, the variable I is incremented in step S39, compared with the next array data, and returned to TABLE [N]. If there is corresponding data, the process is similarly terminated.
When the comparison in step S35, step S36, and step S39 is completed and there is no corresponding data (the same applies to a new combination with N = 0), that is, when the determination in step S35 is (Y), the process proceeds to step S40. In step S41, step S42, and step S42A, starting from variable M = 0,
TABLE [M] <Cage position <TABLE [M + 1]
Is established, at step S43,
(TABLE [M] +3000 mm) <cage position and
Car position <(TABLE [M + 1] -3000 mm),
If so, a new car position is added in steps S44 to S49, and the process ends (added to TABLE [M + 1] and rearranged in ascending order).

This is because array data is created on the assumption that the floor height is 3000 mm or more in this example. If it is determined in step S43 that the car position is less than 3000 mm of the array data (when the determination result is “N”), the process ends without adding a value (assuming a case where the car stops between floors). If there is no corresponding data in step S42, it is compared with the next array data, searched to M = N-1, and repeated.
When there is no corresponding data in step S41, step S42, and step S42A, that is, when step S41 is (Y), the process proceeds to step S50, and in step S51,
(TABLE [M] +3000 mm) <Cage position,
If so, a new car position is added in step S52 and the process ends.
If N = 0 and M = 0, the car position is unconditionally added in step S54 and the process is terminated. When a car position is added, N is incremented in step S49 or step S53.

On the other hand, when the determination result in step S33 is (N), that is, when the number of running times RUN_CNT after detection of the position sensor is greater than or equal to the predetermined number, the process proceeds to step S60, and the car position when stopped is compared with the above array data That is, the determination in step S62,
(TABLE [K] −predetermined value) <car position <(TABLE [K] + predetermined value)
In step S63, the floor data of the array data is set to the corrected car position (corrected car position ← TABLE [K]). Here, the reason why it is determined whether or not the number of times of traveling is a predetermined number is to see the number of times of traveling in consideration of the occurrence of a shift in the car position. Further, the predetermined range for determining the car position is a value that can allow a deviation.

Next, failure detection (failure detection means) of the position sensor 12, which is a second feature of the present invention, will be described with reference to FIGS. First, it is checked whether or not it has been stopped in step S70. If stopped (Y), the variable (flag) FLG is set to 0 in step S71. If the vehicle is traveling (N), the traveling direction is viewed in step S72. When UP, in step S73, it is determined which part of a, b, and c in FIG. 8 the car position is relative to the reference position and the predetermined position. That is,
a) Car position <(reference position−predetermined value).
b) (reference position−predetermined value) ≦ car position and car position ≦ (reference position + predetermined value).
c) (reference position + predetermined value) <cage position.
On the other hand, if it is DOWN, it is determined in step S79 which part of A, B, and C in FIG. That is,
A) (reference position + predetermined value) <cage position.
B) Car position ≦ (reference position + predetermined value) and (reference position−predetermined value) ≦ car position.
C) Car position <(reference position−predetermined value).

  In the case of a and A, it is checked in step S74 whether the position sensor 12 has entered (whether the position sensor 12 has been operated when the cam 13 is engaged with the position sensor 12). In step S75, it is determined that a failure has been detected. In the case of c and C, whether the variable FLG = 0 is checked in step S90. If FLG = 0 (Y), it is determined in step 91 that a failure has been detected. In the case of b and B, the presence / absence of the position sensor 12 is checked in step S80, and when there is an entry (Y), 1 is substituted into the variable FLG in step S81, and then TABLE is cleared (step S82). The variable N is set to 0 (step S83), and the running count RUN_CNT is reset (step S84).

  In short, the speed monitoring device 11 looks at the operation of the position sensor 12, and when the position sensor 12 does not operate even when the car position exceeds the reference position (learned value) of the corresponding position sensor, or earlier than the reference position. When operating, it is determined that the position sensor 12 has failed (failure detection). If there is a failure (Y) in step S76, a variable speed monitoring pattern of the position function is calculated using the corrected car position in step S77, and the car speed is monitored. If there is no failure (N) in step S76, the car speed is monitored in step S78 by calculating a position function variable speed monitoring pattern using the car position. When a failure of the position sensor 12 is detected, the information can be transmitted to the control panel 7 at the same time, and an alarm display or an alarm operation can be activated (detailed illustration is omitted).

  As described above, according to the first embodiment, the car position storage means for storing the car position when the car 2 is stopped as the corrected car position, the fault detection means for detecting the fault of the position sensor 12, and the fault When the detection means detects a failure of the position sensor, the position sensor 12 includes means for calculating a variable speed monitoring pattern of the position function using the corrected car position stored in the car position storage means. The validity of the car position and the reference position is checked by looking at the above operations, and it is determined whether or not the position sensor 12 has failed. When a failure of the position sensor 12 is detected, the car position before the deviation is stored as a corrected car position in order to prevent the vehicle from traveling at the wrong car position and being unable to monitor the speed correctly. Is used to calculate a variable speed monitoring pattern for backup when the position sensor 12 is out of order and monitor the speed. For this reason, even if it repeats the driving | running | working which does not pass the position sensor 12 of a termination | terminus floor, it can prevent that a cage | basket | car position shifts | deviates and can produce | generate an appropriate variable speed monitoring pattern. Moreover, since the car that is traveling can be quickly decelerated by quickly detecting that the position sensor has failed, the effect of improving safety can be obtained.

  Note that the position and number of positions of the position sensor 12, the operation method by engagement with the cam 13, the method and type of the encoder 9, the position of the hoist 5, etc. are limited to those exemplified in the first embodiment. Of course, it is not. Also, the flowcharts of FIGS. 3 to 8 are merely examples of the operation, and needless to say, modifications and changes can be made as appropriate.

BRIEF DESCRIPTION OF THE DRAWINGS The whole block diagram which shows the principal part of the elevator apparatus containing the elevator speed monitoring apparatus by Embodiment 1 of this invention. The block diagram which shows the structure of the speed monitoring apparatus of FIG. FIG. 3 is a flow chart of car position calculation in the operation of the speed monitoring apparatus shown in FIG. 1. The flowchart which shows the basic operation | movement of the speed monitoring apparatus shown in FIG. The flowchart of the correction | amendment cage position calculation in operation | movement of the speed monitoring apparatus shown in FIG. The figure explaining the structure of the arrangement | sequence data shown by FIG. The flowchart of the failure detection of the position detection sensor in operation | movement of the speed monitoring apparatus shown in FIG. The figure explaining the relationship between the reference position shown by FIG. 7, and predetermined value.

Explanation of symbols

  1 hoistway, 2 cage, 3 spindle, 4 main rope, 5 hoisting machine, 6 motor, 7 control panel, 8 rope, 9 encoder, 10 governor, 11 speed monitoring device, 12 position sensor, 13 cam, 111 speed calculation Part, 112 safety circuit part, 113 CPU, 114 I / O, 115 flash ROM, 116 ROM, 117 RAM.

Claims (2)

  First and second position sensors for detecting an absolute position installed in the vicinity of the final floor of the hoistway, an encoder for outputting a signal according to the movement of the car, the first and second position sensors, In an elevator speed monitoring device having a car position calculating means for calculating a car position by the encoder and a car speed calculating means for calculating a car speed by the encoder, the car position when the car stops is stored as a corrected car position. Correction car position storage means to be detected, failure detection means to detect a failure of the position sensor, and when the failure detection means detects a failure of the first or second position sensor, it is stored in the correction car position storage means. And a means for outputting a variable speed monitoring pattern using the corrected car position.   A means for counting the number of runnings after detection by the first or second position sensor, an array data storage means for storing the car position when the car is stopped as array data according to the floor, and If the number of runnings by the counting means is less than the predetermined number of times, the car position when stopped and the data in the arrangement data storage means are compared, and if within the predetermined range, the means for updating the arrangement data of the corresponding floor, Means for setting the car position at the time of stopping and the arrangement data of the corresponding floor obtained from the data of the arrangement data storage means to the correction car position when the number of times of travel is a predetermined number or more. The elevator speed monitoring apparatus according to claim 1.

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